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3250 Commits

Author SHA1 Message Date
Andrew Tridgell dcc3873056 AP_Buffer: remove bool return from add() method 2013-04-22 13:26:49 +10:00
Andrew Tridgell 26fa5c40f1 Compass: use const references for some functions 2013-04-22 13:26:49 +10:00
Andrew Tridgell 1849aca0e9 AP_InertialNav: optimise some multiplies 2013-04-22 13:26:49 +10:00
Andrew Tridgell 01a4fabf9e AP_Param: make things a bit more efficient 2013-04-22 12:21:59 +10:00
Andrew Tridgell 3d325043b0 AP_InertialNav: make some more functions const 2013-04-22 12:21:58 +10:00
Andrew Tridgell 08c57c2587 AP_InertialNav: reduce number of multiplies 2013-04-22 12:21:58 +10:00
Andrew Tridgell bad478134d AP_Buffer: instantiate as a .cpp file, and optimise for const usage 2013-04-22 12:21:58 +10:00
Andrew Tridgell ad40ba57be AC_WPNav: optimise to reduce memory copies 
save a few cycles

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
 2013-04-22 12:21:58 +10:00
Andrew Tridgell 5f1bd1a452 HAL_AVR: constrain Vcc used in voltage_average() 
this ensures a bad Vcc reading doesn't throw off analog inputs too
much
 2013-04-22 11:36:00 +10:00
Andrew Tridgell c437900a49 AP_Scheduler: added SCHED_DEBUG=2 
used to show overruns and slips
 2013-04-21 23:46:35 +10:00
Randy Mackay 2fc25da4c3 Copter: Leonard's fix for get_loiter_accel_to_lean_angle 2013-04-21 16:27:50 +09:00
Andrew Tridgell 844e1b9ef9 DataFlash: added support for printing flight mode as a string 
makes analysing logs easier.

Pair-Programmed-With: Randy
 2013-04-20 15:17:49 +10:00
Andrew Tridgell c3abdaf308 AP_GPS: removed duplicate print_latlon() 2013-04-20 13:57:59 +10:00
Andrew Tridgell b5ae588341 DataFlash_File: fixed creation of 0.log 2013-04-20 13:52:37 +10:00
Andrew Tridgell 735d60c493 DataFlash: convert example sketch to new API 2013-04-20 13:52:37 +10:00
Andrew Tridgell 62f190ed15 DataFlash: simplify code now that copter is converted 
no longer need as many public functions
 2013-04-20 13:52:37 +10:00
Andrew Tridgell cf0c8331c2 DataFlash: use print_latlon() 2013-04-20 13:52:36 +10:00
Andrew Tridgell e1f9297551 AP_Math: move print_latlon() to location.cpp 2013-04-20 13:52:36 +10:00
Andrew Tridgell c29d870497 DataFlash: dump the format of logs at the start of the log 2013-04-20 13:52:36 +10:00
Andrew Tridgell 916e8d0992 DataFlash: new dataflash logging system 
this allows us to remove the display functions in the vehicle code,
and also allows us to store the format of a log file in the log. It
also stores the parameters used in a flight, rather than the
parameters set at the time the log is dumped
 2013-04-20 13:52:36 +10:00
Andrew Tridgell 17d7f1fbe5 AP_InertialSensor: make some interfaces const 2013-04-20 13:52:36 +10:00
Andrew Tridgell 4fe5ce8a09 AP_Common: added a define for PACKED 
neater than a pragma
 2013-04-20 13:52:36 +10:00
Andrew Tridgell 8d727614b4 AP_GPS: make status() const 2013-04-20 13:52:36 +10:00
Andrew Tridgell 9171d5587d AP_Param: make it easier to show the value of a parameter 2013-04-20 13:52:36 +10:00
Andrew Tridgell 7ad293e270 AP_AHRS: made a few methods const 2013-04-20 13:52:36 +10:00
Randy Mackay 1c046fa49f AC_WPNav: increase max descent speed to 1.5m/s 2013-04-18 22:32:00 +09:00
Randy Mackay ed298363f4 AC_WPNav: remove unnecessary limit in leash calc 2013-04-18 22:31:44 +09:00
Randy Mackay 764853bd56 AC_WPNav: add climb and descent params, dynamic leash length 2013-04-18 14:51:01 +09:00
Randy Mackay effd5b0da7 AC_WPNav: improved comments 
Made SPEEDZ a parameter although it's not yet used
 2013-04-18 11:17:41 +09:00
Andrew Tridgell fa493a0fb3 AP_Param: added ops needed for ArduCopter build 2013-04-18 11:12:46 +10:00
tobias fbe7daa477 AP_Param: fixed assignment handling and const 
this fixes radio_min = radio_max = radio_trim = 0; in RC_Channel
 2013-04-18 10:52:40 +10:00
Andrew Tridgell 02bd24cf57 AP_Scheduler: fixed _last_run initialisation 
another valgrind bug
 2013-04-17 23:02:13 +10:00
Andrew Tridgell 0a25d6220a AP_InertialNav: initialise _gps_last_time 
found with valgrind
 2013-04-17 23:02:13 +10:00
Andrew Tridgell b3ec5187f2 AP_GPS: fixed uninitialied variable bugs found with valgrind 2013-04-17 23:02:13 +10:00
Randy Mackay a656b619f5 AP_Motors: remove auto_armed 
redundant flag that was already held in the main code which is where it
belongs.
 2013-04-17 21:28:42 +09:00
Andrew Tridgell 68051f3ea6 AP_Menu: fixed crash bug in strtok_r() handling 
on PX4 this causes a hard fault in CLI menus
 2013-04-17 22:20:00 +10:00
Andrew Tridgell af7381e9e0 AP_HAL: added register_io_process() 
this is used to register a low priority IO task. Used for file IO in
DataFlash_File.cpp
 2013-04-17 21:33:50 +10:00
Andrew Tridgell 5df4796b9a RangeFinder: fixed a warning 2013-04-17 21:33:08 +10:00
Andrew Tridgell da5a5ea368 DataFlash: added file based 'dataflash' logging 2013-04-17 21:32:53 +10:00
Andrew Tridgell 9d3b32bd27 SITL: change default wind speed to zero 
makes starting SITL easier for new users
 2013-04-17 11:39:43 +10:00
Randy Mackay b8974dec99 Copter: compass learn off by default 2013-04-16 18:47:39 +09:00
Janne Mäntyharju 7a04fe9915 AP_Baro: Fixed build for APM2 Beta hardware 2013-04-16 11:24:38 +10:00
Randy Mackay 8046fe2cf3 AC_WPNav: increase max accel to 8m/s/s 2013-04-15 21:57:56 +09:00
Randy Mackay 8fe3e689f4 Copter: add WPNAV log message 2013-04-15 21:54:29 +09:00
Randy Mackay b48864e1ad Copter: allow CH6 tuning of compass declination 2013-04-15 21:50:44 +09:00
priseborough 9ff0888a17 AP_L1_Control : Fixed potential divide by zero in Nu1 angle calculation 2013-04-15 21:11:30 +10:00
Andrew Tridgell 97bfd16bd1 L1_Control: constrain the roll to handle floating point errors 2013-04-15 14:29:39 +10:00
Andrew Tridgell 83dc7dbc92 AP_Math: handle NaN in constrain(), returning average 
this makes it less likely a NaN will propogate
 2013-04-15 14:28:51 +10:00
Andrew Tridgell b69481f74d AP_InertialNav: fixed build of example 2013-04-15 14:09:38 +10:00
Andrew Tridgell 571c48b9d5 L1_Control: cleanup some unused code and variables 2013-04-15 10:52:32 +10:00
priseborough a423d102e0 Plane : AP_L1_Control : Fix wrong way turn behaviour on loiter entry 2013-04-15 10:52:32 +10:00
Andrew Tridgell d01d754ba8 HAL_PX4: if we have lost RC input then set channel 3 to 900 
this allows failsafe to kick in
 2013-04-15 10:52:32 +10:00
Andrew Tridgell 181f7368a3 AP_L1_Control: change turn_distance() to be min of wp_radius and L1 distance 
this gives less surprising behaviour for users
 2013-04-15 10:52:32 +10:00
Andrew Tridgell a4d25f5a82 AHRS: removed AHRS_BARO_USE option 
this option has caused users too much trouble. The vertical velocity
is too noisy from the baro
 2013-04-15 10:52:31 +10:00
Andrew Tridgell 87b0fb05ce AHRS: changed default RP and YAW gain to 0.3 
this reduces the impact of hard acceleration on takeoff, and reduces
the impact of GPS lag

Note that this doesn't affect copters, as they override to 0.1
 2013-04-15 10:52:31 +10:00
Randy Mackay 0eab3e87b2 AC_WPNav: use prev wp as origin for next wp 2013-04-14 18:27:39 +09:00
Randy Mackay 0351c2ae33 AC_WPNav: allow setting of horizontal velocity 
Also added accessor function for waypoint radius parameter
 2013-04-14 13:24:14 +09:00
Randy Mackay 252e98ec57 AC_WPNav: use global gravity constant 2013-04-14 10:39:32 +09:00
Randy Mackay 0ac3762bdd AC_WPNav: fix compiler warning 2013-04-14 10:39:26 +09:00
Randy Mackay 9d7d174995 AC_WPNAV: check distance to waypoint within library 
bug fix for loiter using lat/lon position instead of NED position when
calculating desired velocity towards target
 2013-04-14 10:39:21 +09:00
Randy Mackay 35001619f0 AC_WPNav: stop track_desired from moving backwards 2013-04-14 10:39:19 +09:00
Randy Mackay c6b68c7843 AC_WPNav: Leonard's 3d leash calculator 2013-04-14 10:39:08 +09:00
Randy Mackay 74e1c2e660 AC_WPNav: advance track fixes 2013-04-14 10:39:05 +09:00
Randy Mackay bc87118062 AC_WPNav: add get_target_alt method 2013-04-14 10:39:00 +09:00
Randy Mackay 6dbcbdcb43 AC_WPNav: limit max loiter position error 
move interpretation of pilot input to wpnav lib
 2013-04-14 10:38:58 +09:00
Randy Mackay 31838b2865 AC_WPNAV: change loiter controllers to use floats 
in particular get_loiter_pos_lat_lon and get_loiter_accel_lat_lon
 2013-04-14 10:38:56 +09:00
Randy Mackay 0ccdce1b22 AC_WPNav: Leonard's ff loiter and 3d wp nav 2013-04-14 10:38:43 +09:00
Randy Mackay 926c404994 AC_WPNav: Leonard's loiter target smoothing 2013-04-14 10:38:39 +09:00
Randy Mackay f82ce449d7 AC_WPNav: add angle limits and set from AC's throttle controller 2013-04-14 10:38:34 +09:00
Randy Mackay afd2f82768 AC_WPNav: bug fix for track covered being 2D 
Replaced abs and fabs with fabsf
Added get_destination method
 2013-04-14 10:38:32 +09:00
Randy Mackay 8ec7fd1c9c AC_WPNav: add set_loiter_target to use velocity 
Target can be set in front of the copter to reduce the bounce back to
the position where loiter was engaged.
 2013-04-14 10:38:25 +09:00
Randy Mackay fc972e2d42 InertialNav: add get_velocity method 2013-04-14 10:38:23 +09:00
Randy Mackay 3bfcc3b8d0 AC_WPNav: replace get_target_alt with get_destination_alt 2013-04-14 10:38:13 +09:00
Randy Mackay c40080e76a AC_WPNav: added set_target_alt 2013-04-14 10:38:04 +09:00
Randy Mackay 60060d8184 AC_WPNav: add get_target_alt 
Required because waypoint controller will be modified to control
altitude
 2013-04-14 10:37:58 +09:00
Randy Mackay 0d70ba1030 AC_WPNav: bug fix to dt calculation 2013-04-14 10:37:51 +09:00
Randy Mackay 39bc3800c9 AC_WPNav: add distance and bearing to target methods 2013-04-14 10:34:50 +09:00
Randy Mackay b92c4097d2 AC_WPNav: first implementation 2013-04-14 10:34:47 +09:00
Andrew Tridgell 76e20150e9 AP_InertialSensor: ensure parent class is initialised in instance classes 2013-04-12 14:30:35 +10:00
Andrew Tridgell a5c3051929 AP_GPS: fixed initialisation error in uBlox driver 
found with valgrind
 2013-04-12 14:25:46 +10:00
Andrew Tridgell dca597cda1 L1_Control: added a comment on speed of the L1 control code 2013-04-12 12:58:20 +10:00
Brandon Jones a3c2851120 AP_L1_Control: Addition of library for geometry calculations required for L1 Control. 
1) Explicit control of tracking loop period and damping which removes previous
   variation in period with speed and fixed damping ratio
2) Explicit control of track capture angle (now set to 45 degrees by default)
3) Removal of restriction on loiter radius being greater than L1 distance

The circle(loiter) control is a L1 and PD hybrid utilising L1 for waypoint capture and PD control for circle tracking.

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
Pair-Programmed-With: Andrew Tridgell <tridge@samba.org>
 2013-04-12 12:48:09 +10:00
priseborough b63d0969b7 AP_AHRS: Addition of a first order complementary filter to AP_AHRS::groundspeed_vector 
Addition of a complementary filter to estimation of the ground velocity vector for use by the L1-nav
 2013-04-12 12:48:09 +10:00
Andrew Tridgell 05ecb8d8fa AP_AHRS: fixed functions that need to be virtual 
functions overridden in a child class need to be marked virtual, or
you get the parent class function
 2013-04-12 12:48:08 +10:00
Andrew Tridgell ee81b0f729 AP_AHRS: added wind_correct_bearing() and groundspeed_vector() 
these are very useful for navigation libraries
 2013-04-12 12:48:08 +10:00
Andrew Tridgell 43c3c60de2 AP_Math: moved a lot of vector templates to cpp from .h 
this reduces the code size quite a lot on AVR
 2013-04-12 12:48:08 +10:00
Andrew Tridgell 78eb12a4ac AP_Math: added RadiansToCentiDegrees and RADIUS_OF_EARTH 2013-04-12 12:48:08 +10:00
Andrew Tridgell 8b119934ea AP_Math: fixed grammar error 2013-04-12 12:48:08 +10:00
Andrew Tridgell 2d29a6a7be AP_Math: added Vector2f.angle() 
useful for calculating the vector in polar coordinates
 2013-04-12 12:48:08 +10:00
Andrew Tridgell f6aacdc768 AP_Navigation: added a navigation controller class 
the new L1 controller will be a instance of this class. Other
navigation controllers can be added as additional instances

Pair-Programmed-With: Paul Riseborough <p_riseborough@live.com.au>
 2013-04-12 12:48:08 +10:00
Randy Mackay cdb532a594 Copter: bug fix for loiter target 2013-04-11 18:24:20 +09:00
Randy Mackay 86fe79a662 INS: updated MPU6K_FILTER parameter description 2013-04-10 00:14:53 +09:00
tobias 217b8d7a59 cleanup: use const for struct Location pointers and references 
this allows the compiler to generate more efficient code
 2013-04-09 12:10:32 +10:00
Stange Szilard 6516bffbb6 AP_Camera: enable relay off in all builds 2013-04-09 11:38:30 +10:00
Andrew Tridgell 8d992ae615 InertialSensor: added OilPan INS example 2013-04-08 07:07:25 +10:00
Randy Mackay af13f6795c INS: switch to global definition of GRAVITY_MSS 
saves 4 bytes of RAM
 2013-04-05 22:57:46 +09:00
Randy Mackay 777c6a308e AP_InertialNav: use shared GRAVITY_MSS constant 2013-04-05 11:48:41 +09:00
foobarbecue c07702f46d Update AP_MotorsOctaQuad.cpp 
There were two "4"s in the motor test order values. Presumably a typo.
 2013-04-05 11:22:56 +09:00
Randy Mackay 739e3c2b9a Copter: adjust trapezoidal motor mixing 2013-04-04 21:46:11 +09:00
Randy Mackay e32cbd827b Copter: replace quad trapezoid frame with V 
Also update motor mixing
 2013-04-03 22:14:29 +09:00